| 摘要 |
PROBLEM TO BE SOLVED: To accurately set an allowable value of a transmitted torque.SOLUTION: A driving device for driving an arm adapted to move an object to be moved, includes: a driving unit for generating a driving force to drive a link that is a constituent of the arm; a torque restrictor arranged in a joint of the arm and adapted for transmitting the driving force generated by the driving unit from the driving unit to the link, with the allowable value for the driving force to be transmitted to the link being variable, and restricting the driving force to be transmitted to the link on the basis of the allowable value; and a controller adapted to calculate the allowable value for the driving force based on a force exerted on the link. |
